
#pragma once

#include <string>

#include "cyber/plugin_manager/plugin_manager.h"
#include "modules/planning/planning_interface_base/scenario_base/traffic_light_base/base_stage_traffic_light_cruise.h"

namespace apollo {
namespace planning {

class TrafficLightLeftTurnWaitingZoneStageIntersectionCruise : public BaseStageTrafficLightCruise {
public:
    StageResult Process(const common::TrajectoryPoint& planning_init_point, Frame* frame) override;

private:
    StageResult FinishStage();
};

CYBER_PLUGIN_MANAGER_REGISTER_PLUGIN(apollo::planning::TrafficLightLeftTurnWaitingZoneStageIntersectionCruise, Stage)

}  // namespace planning
}  // namespace apollo
